/*
* Tilt stream thread
*/
static msg_t stream_tilt_thread(void *arg) {
attitude_t attitude_data;
uint16_t period = *(uint16_t *)arg;
systime_t time = chTimeNow();
while (TRUE) {
MahonyAHRSupdateIMU(0, (gyro_data.y / 57.143) * 3.141592 / 180.0, 0,
-acc_data.x / 1000.0, 0, acc_data.z / 1000.0);
getMahAttitude(&attitude_data);
chprintf((BaseSequentialStream*)&SERIAL_DRIVER, "%6d %f\r\n", (int)time,
attitude_data.pitch * 180.0 / 3.141592);
time += MS2ST(period);
chThdSleepUntil(time);
}
return 0;
}
void MahonyAHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz) {
float recipNorm;
float q0q0, q0q1, q0q2, q0q3, q1q1, q1q2, q1q3, q2q2, q2q3, q3q3;
float hx, hy, bx, bz;
float halfvx, halfvy, halfvz, halfwx, halfwy, halfwz;
float halfex, halfey, halfez;
float qa, qb, qc;
// Use IMU algorithm if magnetometer measurement invalid (avoids NaN in magnetometer normalisation)
if((mx == 0.0f) && (my == 0.0f) && (mz == 0.0f)) {
MahonyAHRSupdateIMU(gx, gy, gz, ax, ay, az);
return;
}
// Compute feedback only if accelerometer measurement valid (avoids NaN in accelerometer normalisation)
if(!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) {
// Normalise accelerometer measurement
recipNorm = invSqrt(ax * ax + ay * ay + az * az);
ax *= recipNorm;
ay *= recipNorm;
az *= recipNorm;
// Normalise magnetometer measurement
recipNorm = invSqrt(mx * mx + my * my + mz * mz);
mx *= recipNorm;
my *= recipNorm;
mz *= recipNorm;
// Auxiliary variables to avoid repeated arithmetic
q0q0 = q0 * q0;
q0q1 = q0 * q1;
q0q2 = q0 * q2;
q0q3 = q0 * q3;
q1q1 = q1 * q1;
q1q2 = q1 * q2;
q1q3 = q1 * q3;
q2q2 = q2 * q2;
q2q3 = q2 * q3;
q3q3 = q3 * q3;
// Reference direction of Earth's magnetic field
hx = 2.0f * (mx * (0.5f - q2q2 - q3q3) + my * (q1q2 - q0q3) + mz * (q1q3 + q0q2));
hy = 2.0f * (mx * (q1q2 + q0q3) + my * (0.5f - q1q1 - q3q3) + mz * (q2q3 - q0q1));
bx = sqrt(hx * hx + hy * hy);
bz = 2.0f * (mx * (q1q3 - q0q2) + my * (q2q3 + q0q1) + mz * (0.5f - q1q1 - q2q2));
// Estimated direction of gravity and magnetic field
halfvx = q1q3 - q0q2;
halfvy = q0q1 + q2q3;
halfvz = q0q0 - 0.5f + q3q3;
halfwx = bx * (0.5f - q2q2 - q3q3) + bz * (q1q3 - q0q2);
halfwy = bx * (q1q2 - q0q3) + bz * (q0q1 + q2q3);
halfwz = bx * (q0q2 + q1q3) + bz * (0.5f - q1q1 - q2q2);
// Error is sum of cross product between estimated direction and measured direction of field vectors
halfex = (ay * halfvz - az * halfvy) + (my * halfwz - mz * halfwy);
halfey = (az * halfvx - ax * halfvz) + (mz * halfwx - mx * halfwz);
halfez = (ax * halfvy - ay * halfvx) + (mx * halfwy - my * halfwx);
// Compute and apply integral feedback if enabled
if(twoKi > 0.0f) {
integralFBx += twoKi * halfex * (1.0f / sampleFreq); // integral error scaled by Ki
integralFBy += twoKi * halfey * (1.0f / sampleFreq);
integralFBz += twoKi * halfez * (1.0f / sampleFreq);
gx += integralFBx; // apply integral feedback
gy += integralFBy;
gz += integralFBz;
}
else {
integralFBx = 0.0f; // prevent integral windup
integralFBy = 0.0f;
integralFBz = 0.0f;
}
// Apply proportional feedback
gx += twoKp * halfex;
gy += twoKp * halfey;
gz += twoKp * halfez;
}
// Integrate rate of change of quaternion
gx *= (0.5f * (1.0f / sampleFreq)); // pre-multiply common factors
gy *= (0.5f * (1.0f / sampleFreq));
gz *= (0.5f * (1.0f / sampleFreq));
qa = q0;
qb = q1;
qc = q2;
q0 += (-qb * gx - qc * gy - q3 * gz);
q1 += (qa * gx + qc * gz - q3 * gy);
q2 += (qa * gy - qb * gz + q3 * gx);
q3 += (qa * gz + qb * gy - qc * gx);
// Normalise quaternion
recipNorm = invSqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3);
q0 *= recipNorm;
q1 *= recipNorm;
q2 *= recipNorm;
q3 *= recipNorm;
}
static void stabilizerTask(void* param)
{
uint32_t lastWakeTime;
//uint32_t tempTime;
uint16_t heartbCounter = 0;
uint16_t attitudeCounter = 0;
uint16_t altHoldCounter = 0;
//uint32_t data[6];
//Wait for the system to be fully started to start stabilization loop
systemWaitStart();
lastWakeTime = xTaskGetTickCount ();
for( ; ;)
{
//tempTime = lastWakeTime;
vTaskDelayUntil(&lastWakeTime, F2T(IMU_UPDATE_FREQ)); // 500Hz
heartbCounter ++;
/*
if (lastWakeTime < tempTime) {
tempTime = (0 - tempTime) + lastWakeTime;
} else {
tempTime = lastWakeTime - tempTime;
}
*/
while (heartbCounter >= HEART_UPDATE_RATE_DIVIDER) { // 1Hz
MAVLINK(mavlink_msg_heartbeat_send(MAVLINK_COMM_0, MAV_TYPE_QUADROTOR, MAV_AUTOPILOT_GENERIC, MAV_MODE_PREFLIGHT, 0, MAV_STATE_STANDBY);)
heartbCounter = 0;
}
imuRead(&gyro, &acc, &mag);
if (imu6IsCalibrated())
{
// 250HZ
if (++attitudeCounter >= ATTITUDE_UPDATE_RATE_DIVIDER)
{
MahonyAHRSupdateIMU(gyro.y, gyro.x, gyro.z, acc.y, acc.x, acc.z);
//filterUpdate_mars(gyro.x, gyro.y, gyro.z, acc.x, acc.y, acc.z,mag.x,mag.y,mag.z);
//MahonyAHRSupdate(gyro.x, gyro.y, gyro.z, acc.x, acc.y, acc.z,mag.x,mag.y,mag.z);
//MahonyAHRSupdate(gyro.y, gyro.x, gyro.z, acc.y, acc.x, acc.z,mag.y,mag.x,mag.z);
//filterUpdate_mars(gyro.x, gyro.y, gyro.z, acc.x, acc.y, acc.z,mag.x,mag.y,mag.z);
//MahonyAHRSupdate(gyro.y, gyro.x, gyro.z, acc.y, acc.x, acc.z,mag.y,mag.x,mag.z);
sensfusion6GetEulerRPY(&eulerRollActual, &eulerPitchActual, &eulerYawActual);
radRollActual = eulerRollActual * M_PI / 180.0f;
radPitchActual = eulerPitchActual * M_PI / 180.0f;
radYawActual = eulerYawActual * M_PI / 180.0f;
//float yh, xh;
#define yh (mag.y * cos(radRollActual) - mag.z * sin(radRollActual))
#define xh (mag.x*cos(radPitchActual) + mag.y*sin(radRollActual)*sin(radPitchActual) + mag.z * cos(radRollActual)*sin(radPitchActual))
radYawActual = atan2(-yh,xh);
MAVLINK(mavlink_msg_attitude_send(MAVLINK_COMM_0, lastWakeTime, \
radRollActual, radPitchActual, radYawActual, \
gyro.x, gyro.y, gyro.z);)
attitudeCounter = 0;
}
